Yes.
There are two ways to know this. One is that you can have an out-of-body experience yourself, and then you will perceive the reality of those senses directly.
(I will point out on that matter that many people, including me, have discovered in this way that our spiritual senses are largely deteriorated. I have had experiences out of the body where I found myself blind in the spiritual world, and I’ve spoken to other people with similar experiences. However, if you experience that, don’t interpret that to mean those senses do not or have never existed. It’s merely a reflection of our fallen nature, which can be rectified. Though that is a large topic, which we don’t need to get into here.)
The second way to know about the reality of the spiritual senses is from Scripture. Consider Rev 1:10, in which St. John describes his own experiences of being “in the spirit” and the things he both heard and saw in that state. Sights and sounds are perceived by senses.
So there you have it from St. John himself, describing all the things he heard and saw with the senses of his soul. There are other spiritual senses, too, beyond just the ones we associate with physical sensory phenomena, but that should be enough to answer your question at a basic level.